TY - GEN
T1 - Dynamic Movement Primitives for Human-Robot interaction
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
AU - Prada, Miguel
AU - Remazeilles, Anthony
AU - Koene, Ansgar
AU - Endo, Satoshi
PY - 2013
Y1 - 2013
N2 - This article presents the current state of an ongoing work on Human-Robot interaction in which two partners collaborate during an object hand-over interaction. The manipulator control is based on the Dynamic Movement Primitives model, specialized for the object hand-over context. The proposed modifications enable finer control of the dynamic of the DMP to align it to human control strategies, where the contributions of the feedforward and feedback parts of the control are different to the original DMP formulation. Furthermore, the proposed scheme handles moving goals. With these two modifications, the model no longer requires an explicit estimation of the exchange position and it can generate motion purely reactively to the instantaneous position of the human hand. The quality of the control system is evaluated through an extensive comparison with ground truth data related to the object interaction between two humans acquired in the context of the European project CogLaboration which envisages an application in an industrial setting.
AB - This article presents the current state of an ongoing work on Human-Robot interaction in which two partners collaborate during an object hand-over interaction. The manipulator control is based on the Dynamic Movement Primitives model, specialized for the object hand-over context. The proposed modifications enable finer control of the dynamic of the DMP to align it to human control strategies, where the contributions of the feedforward and feedback parts of the control are different to the original DMP formulation. Furthermore, the proposed scheme handles moving goals. With these two modifications, the model no longer requires an explicit estimation of the exchange position and it can generate motion purely reactively to the instantaneous position of the human hand. The quality of the control system is evaluated through an extensive comparison with ground truth data related to the object interaction between two humans acquired in the context of the European project CogLaboration which envisages an application in an industrial setting.
UR - http://www.scopus.com/inward/record.url?scp=84893801651&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696498
DO - 10.1109/IROS.2013.6696498
M3 - Conference contribution
AN - SCOPUS:84893801651
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1168
EP - 1175
BT - IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -